CN110816755B - Hoisting and oscillation stopping mechanism of underwater robot cloth recycling system - Google Patents
Hoisting and oscillation stopping mechanism of underwater robot cloth recycling system Download PDFInfo
- Publication number
- CN110816755B CN110816755B CN201810921939.XA CN201810921939A CN110816755B CN 110816755 B CN110816755 B CN 110816755B CN 201810921939 A CN201810921939 A CN 201810921939A CN 110816755 B CN110816755 B CN 110816755B
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- cable
- hoisting
- support
- fixing frame
- underwater robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0183—Details, e.g. winch drums, cooling, bearings, mounting, base structures, cable guiding or attachment of the cable to the drum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0183—Details, e.g. winch drums, cooling, bearings, mounting, base structures, cable guiding or attachment of the cable to the drum
- B66D2700/0191—Cable guiding during winding or paying out
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
Abstract
The invention relates to a hoisting and anti-swing mechanism of an underwater robot cloth and recycling system, wherein a rotary motor is arranged on a guide buffer fixing frame through a mounting frame, an output shaft is connected with the lower end of a rotary shaft, the upper end of the rotary shaft is fixedly connected with a connecting block A, and a hoisting ring hinged connecting rod is arranged on the connecting block A; the hoisting mechanism comprises a cable, a hoisting roller, a power source, a support A and a rotating drum supporting shaft, wherein the support A is arranged on the guide buffer fixing frame, the hoisting roller is rotatably arranged on the support A through the rotating drum supporting shaft, the power source is arranged on the support A, the output end of the hoisting roller is connected with one end of the hoisting roller and drives the hoisting roller to rotate, one end of the cable is wound on the hoisting roller, and the other end of the cable is connected with a rope throwing cable thrown out by the bow of the underwater robot. The invention has reasonable structural design and high integration level, can realize high-automation and less-man operation, releases manpower to a great extent, and simplifies the scale of test assurance teams.
Description
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to a hoisting and oscillation stopping mechanism of an underwater robot deployment and recovery system.
Background
Various underwater robot equipment in the ocean field has diversified structural forms, practical system application and scientific detection serialization. Under the situation that various underwater robots are vigorously developed in the whole ocean application field, how to more efficiently and safely place and recycle the underwater robots on the premise of less humanized operation requirements of ocean operation is always a common problem at home and abroad.
At present, four main modes of deployment and recovery of underwater robots are as follows:
the first is to adopt a floating dock type and a lifting platform to carry out underwater deployment, docking and recovery operation, although the influence of wind waves can be reduced, a special support mother ship is needed, and the manufacturing cost and the use cost of the special mother ship are expensive, so that the special mother ship is not suitable for the current domestic situation.
The second is that the midship moon pool is recycled, so that the influence of sea waves on the deployment and recycling operation can be avoided; however, due to the limited size of the moon pool, the size of the underwater robot which can support retraction is limited to a small scale and a regular form.
Thirdly, the mother ship is used for hoisting and recycling on the water surface, and generally, workers are required to take a motor boat to approach an underwater robot to complete the butt joint with a recycling mechanism; the operation mode is greatly influenced by wind and waves, and equipment damage and personnel injury easily occur when the sea conditions are poor; the distribution flow and the recovery flow are reciprocal.
Fourthly, the rope throwing device of the underwater robot which completes the working mission is thrown out of the traction rope through a remote control command, a worker uses the rope fishing device to recycle the traction rope, the traction rope is led in the A-shaped frame, and the worker gradually pulls the traction rope to the lower part of the A-shaped frame of the stern of the mother ship; the working personnel on the mother ship use the long rod hook for butt joint, and then a team composed of a plurality of people can stop swinging and recover under the working condition that the mother ship moves at a belt speed; the recovery method solves the problem of dangers caused by the fact that someone hangs down the boat, and has low use cost; however, the method has the problems of difficult realization of severe sea conditions, low universality and multi-humanization operation.
Disclosure of Invention
In order to solve the problems during deployment and recovery of the underwater robot, the invention aims to provide a winch anti-swing mechanism of a deployment and recovery system of the underwater robot.
The aim of the invention is realized by the following technical scheme:
the invention comprises a circumferential rotation direction adjusting mechanism, a hoisting mechanism, a catching bracket and a guiding buffer fixing frame, wherein the circumferential rotation direction adjusting mechanism comprises a hanging ring hinged connecting rod, a connecting block A, a mounting frame, a rotary motor and a rotating shaft, the rotary motor is mounted on the guiding buffer fixing frame through the mounting frame, the output shaft is connected with the lower end of the rotating shaft, the upper end of the rotating shaft is fixedly connected with the connecting block A, and the hanging ring hinged connecting rod is mounted on the connecting block A; the hoisting mechanism comprises a cable, a hoisting roller, a power source, a support A and a rotary drum supporting shaft, wherein the support A is arranged on the guide buffer fixing frame, the hoisting roller is rotatably arranged on the support A through the rotary drum supporting shaft, the power source is arranged on the support A, the output end of the power source is connected with one end of the hoisting roller and drives the hoisting roller to rotate, one end of the cable is wound on the hoisting roller, and the other end of the cable is connected with a recovery rope thrown out by the bow of the underwater robot;
the guide buffer fixing frame is provided with an oil damping vibration isolator, the oil damping vibration isolator comprises an oil damping controller and an external fixing cylinder, the external fixing cylinder is arranged on the guide buffer fixing frame, the oil damping controller is accommodated in the external fixing cylinder, the upper end of the oil damping controller is connected with the top of the external fixing cylinder, and the lower end of the oil damping controller is connected with the capturing bracket;
the guide buffer fixing frame is provided with a guide cylinder barrel, the guide cylinder barrel comprises an outer fixed supporting sleeve, an inner fixed wear-resisting sleeve and an inner follow-up cylinder rod, the outer fixed supporting sleeve is arranged on the guide buffer fixing frame, the inner fixed wear-resisting sleeve is contained in the outer fixed supporting sleeve and is connected with the outer fixed supporting sleeve, the inner follow-up cylinder rod can be contained in the inner fixed wear-resisting sleeve in a relatively lifting manner, and the lower end of the inner follow-up cylinder rod is connected with the capturing bracket;
a driven cable dispersing roller mechanism is arranged on one side or two sides of the winding roller and comprises a driven roller and a bracket B, wherein the bracket B is arranged on the bracket A, the driven roller is rotatably arranged on the bracket B, and the distance between the winding roller and the driven roller is smaller than 2 times of the diameter of a cable;
the cable pressing mechanism comprises a torsion spring, a torsion spring supporting rod, a connecting block B and a cable pressing plate, wherein the torsion spring supporting rod is arranged on the guide buffering fixing frame through the connecting block B;
the cable penetrates out from the bottom of the guide buffer fixing frame and is connected with a recovery rope thrown out from the bow of the underwater robot, and a cable limiting plate arranged on the guide buffer fixing frame is arranged on the outer side of the cable;
the capturing bracket is provided with a first-stage buffering vibration isolator, and the lower surface of the guiding buffering fixing frame is provided with a second-stage buffering vibration isolator;
a wear-resistant copper ring for axially limiting the rotating shaft and a wear-resistant copper sleeve A for radially limiting the rotating shaft are arranged between the rotating shaft and the mounting frame, and the lower end of the rotating shaft is provided with a triangular connecting molded surface and is connected with the tail end of an output shaft of the rotating motor; the upper end of the rotating shaft is fixedly connected with the bottom of the connecting block A through a locking nut;
the connecting block A is U-shaped, the lifting ring hinged connecting rod is arranged at the opening end of the U-shaped connecting block A, one end of the lifting ring hinged connecting rod is a lifting ring, and the other end of the lifting ring hinged connecting rod is provided with a positioning locking hole.
The invention has the advantages and positive effects that:
1. the invention has reasonable structural design and high integration level, can realize high-automation and less-man operation, releases manpower to a great extent, and simplifies the scale of test assurance teams.
2. The transmission connection of the circumferential rotation direction-adjusting mechanism adopts profile connection, so that the transmission is reliable, and the installation and maintenance are convenient and quick.
3. The oil damping vibration isolator has strong vibration isolation capability and large adjustment range, and forms a three-level buffer vibration isolation scheme together with the first-level buffer vibration isolator and the second-level buffer vibration isolator, so that the safe deployment and recovery of the underwater robot can be ensured even under the high sea condition.
4. The invention is provided with the passive cable dispersing roller mechanism, so that the winding and unwinding ropes are passively wound side by side in the winding process.
5. The invention is provided with the cable pressing mechanism, and the mechanism ensures that the cable is always in a pressed state when being subjected to constant tension winch, and the cable is not wound due to reciprocating winding and unwinding actions.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a second perspective view of the present invention;
FIG. 3 is a perspective cross-sectional view of the circumferential-rotation steering mechanism of the present invention;
FIG. 4 is a schematic perspective view of a hoisting mechanism according to the present invention;
FIG. 5 is a second perspective view of the hoisting mechanism of the present invention;
FIG. 6 is a perspective cross-sectional view of the guide cylinder of the present invention;
FIG. 7 is a perspective cross-sectional view of the oil damping vibration isolator of the present invention;
FIG. 8 is a diagram of the operation of the present invention as applied to a parent ship;
wherein: 1 is a circumferential rotation direction-adjusting mechanism, 101 is a lifting ring hinged connecting rod, 102 is a connecting block A,103 is a fixed plate A,104 is a supporting plate A,105 is a fixed plate B,106 is a fixed plate C,107 is a rotary motor, 108 is an output shaft tail end, 109 is a triangle connecting molded surface, 110 is a wear-resistant copper sleeve A,111 is a rotary shaft, 112 is a locking nut, 113 is a positioning locking hole, 114 is a wear-resistant copper ring, and 115 is a screw A;
2 is a hoisting mechanism, 201 is a cable, 202 is a cable limiting plate, 203 is a hoisting drum, 204 is a connecting flange, 205 is a hoisting speed reducer, 206 is a hoisting motor, 207 is a bracket A, and 208 is a screw C;
3 is an oil damping vibration isolator, 301 is an oil damping controller, 302 is a locking block, 303 is an external fixed cylinder, 304 is an external threaded connector A,305 is an external threaded connector B;
4 is a guide cylinder barrel, 401 is an external fixed support sleeve, 402 is an internal fixed wear sleeve, 403 is an end flange compression plate, 404 is an internal follow-up cylinder rod, 405 is an internal locking thread, 406 is a screw E,407 is a connecting flange;
5 is a passive cable dispersion roller mechanism, 501 is a passive roller, 502 is a bracket B, and 503 is a screw D;
6 is a cable compressing mechanism, 601 is a torsion spring, 602 is a torsion spring supporting rod, 603 is a connecting block B,604 is a cable compressing plate, and 605 is a screw B;
the hydraulic shock absorber comprises a capturing bracket 7, a primary buffer vibration isolator 8, a secondary buffer vibration isolator 9, a guiding buffer fixing frame 10, a connecting plate B11, a mother ship 12, a mechanical arm 13, a hoisting and swinging stopping mechanism 14, a rope throwing mechanism 15, an underwater robot 16, a connecting plate A17 and a damping hydraulic cylinder 18.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the hydraulic vibration isolator comprises a circumferential rotation direction adjusting mechanism 1, a hoisting mechanism 2, an oil damping vibration isolator 3, a guide cylinder barrel 4, a passive cable dispersing roller mechanism 5, a cable pressing mechanism 6, a capturing bracket 7, a primary buffer vibration isolator 8, a secondary buffer vibration isolator 9 and a guide buffer fixing frame 10, wherein the hoisting mechanism 2 is positioned in the guide buffer fixing frame 10, and the oil damping vibration isolator 3 and the guide cylinder barrel 4 which are arranged on the guide buffer fixing frame 10 are arranged on the left side and the right side of the hoisting mechanism 2; a passive cable dispersing roller mechanism 5 for dispersing and winding the cables 201 side by side is arranged at the front side and/or the rear side of the winding mechanism 2, and a cable pressing mechanism 6 for pressing the cables is arranged above the winding mechanism 2. The catching support 7 is positioned below the guiding buffer fixing frame 10, the oil damping vibration isolator 3 and the guiding cylinder barrel 4 in the hoisting mechanism 2 are respectively connected with the catching support 7, the catching support 7 is arc-shaped, one side contacted with the underwater robot 16 is provided with a first-stage buffer vibration isolator 8, and the lower surface of the guiding buffer fixing frame 10 is provided with a second-stage buffer vibration isolator 9.
As shown in fig. 1, fig. 2 and fig. 3, the circumferential rotation steering mechanism 1 comprises a lifting ring hinged connecting rod 101, a connecting block a102, a mounting frame, a rotary motor 107, a wear-resistant copper sleeve a110, a rotary shaft 111, a locking nut 112 and a wear-resistant copper ring 114, wherein a fixing plate C106 is arranged on the upper portion of the guiding buffer fixing frame 10, the mounting frame is fixed on the middle position of the upper surface of the fixing plate C106, the fixing plate comprises two fixing plates a103, a supporting plate a104 and a fixing plate B105, the two supporting plates a104 are arranged in parallel, the left end and the right end of the fixing plate a103 are fixedly connected to the tops of the two supporting plates a104 through screws a115 respectively, and the fixing plate B105 parallel to the fixing plate a103 is fixedly connected between the two supporting plates a104 through screws below the fixing plate a 103. The middle of the fixed plate B105 is provided with a hole, the rotary motor 107 is fixedly connected to the lower surface of the fixed plate B105, and the tail end 108 of the output shaft passes through the hole on the fixed plate B105 and is rotatably connected with the connecting block A102 through the rotary shaft 111. A wear-resistant copper sleeve A110 for radially limiting the rotation shaft 111 is arranged between the outer side of the middle part of the rotation shaft 111 and the fixed plate A103, the rotation shaft 111 is isolated by the wear-resistant copper sleeve A110 and is connected with the fixed plate A103 to form a revolute pair, and the rotation shaft 111 is in clearance fit with the wear-resistant copper sleeve A10; a triangular connection profile 109 is provided inside the lower end (large end) of the rotation shaft 111, a triangular connection profile is provided outside the output shaft end 108 of the rotation motor 107, the rotation motor 107 and the rotation shaft 111 are connected through the profiles to transmit torque, and the upper end of the rotation shaft 111 is fixedly connected with the bottom of the connection block a102 through a lock nut 112. The connecting block A102 is U-shaped, a lifting ring hinged connecting rod 101 is arranged at the opening end of the U-shaped connecting block A, one end of the lifting ring hinged connecting rod 101 is a lifting ring, and a positioning locking hole 113 is formed at the other end of the lifting ring hinged connecting rod. Wear-resistant copper rings 114 sleeved on the rotating shaft 111 and used for axially limiting the rotating shaft 111 are arranged on the upper side and the lower side of the fixed plate A103, and the rotating shaft 111 and the wear-resistant copper rings 114 are in clearance fit; the upper wear-resistant copper ring 114 is fixed with the fixed plate A103 through the lock nut 112, and the lower wear-resistant copper ring 114 is fixed with the fixed plate A103 through the large end of the rotating shaft 111; at the same time, the upper and lower wear-resistant copper rings 114 also axially limit the wear-resistant copper sleeve a 110.
As shown in fig. 1, 2, 4 and 5, the hoisting mechanism 2 comprises a cable 201, a cable limiting plate 202, a hoisting drum 203, a connecting flange 204, a power source, a support a207, a rotating drum supporting shaft 209 and a wear-resistant copper sleeve B210, wherein the support a207 is fixed on the bottom surface of the guiding buffer fixing frame 10, the hoisting drum 203 is rotatably installed on the support a207 through the rotating drum supporting shaft 209, the power source is installed on the support a207, the output end is connected with one end of the hoisting drum 203 and drives the hoisting drum 203 to rotate, one end of the cable 201 is wound on the hoisting drum 203, and the other end is a free end and is connected with a recovery rope thrown out by the bow of the underwater robot. The power source of the present embodiment includes a hoist decelerator 205 and a hoist motor 206 fixedly connected by screws, and the hoist decelerator 205 is screwed to the bracket a207 together with the hoist motor 206. A connecting flange 204 is arranged on the left side inside the winding drum 203, and the connecting flange 204 is fixedly connected with a flange plate of a winding speed reducer 205 through screws; the flange connection is more reliable and convenient than the common shaft key connection, and is beneficial to maintenance. The right side of the winding drum 203 is fixedly connected to a left flange of a rotary drum supporting shaft 209 through a screw C208, and the rotary drum supporting shaft 209 is connected with a bracket A207 through a wear-resistant copper sleeve B210 in a revolute pair mode. The cable 201 passes through a hole formed in the bottom of the guide buffer fixing frame 10 and is connected with a recovery rope thrown out by the bow of the underwater robot, and a cable limiting plate 202 mounted on the guide buffer fixing frame 10 is arranged on the outer side (namely, the side far away from the winding drum 203) of the cable 201 so as to enable the cable 201 to be retracted.
A passive cable dispersing roller mechanism 5 is arranged on one side or two sides of the winding roller 203, the passive cable dispersing roller mechanism 5 comprises a passive roller 501 and a bracket B502, the bracket B502 is arranged on the bracket A207 or the guiding buffer fixing frame 10 through a screw D503, the passive roller 501 is rotatably arranged on the bracket B502, and the distance between the winding roller 203 and the passive roller 501 is smaller than 2 times of the diameter of the cable 201. In this embodiment, a passive cable dispersing roller mechanism 5 is disposed at the front side of the winding roller 203, and the passive roller 501 in the passive cable dispersing roller mechanism 5 contacts with the cable 201 in the process of winding the cable 201 around the winding roller 203, so that the cables 201 of each layer are wound side by side. The cable 201 of the present invention is a kevlar cable.
The cable compressing mechanism 6 installed on the guiding buffer fixing frame 10 is arranged above the winding drum 203, the cable compressing mechanism 6 comprises a torsion spring 601, a torsion spring supporting rod 602, a connecting block B603 and a cable compressing plate 604, the connecting block B603 is respectively arranged at two ends of the torsion spring supporting rod 602, the connecting blocks B603 at two ends are fixedly connected on the guiding buffer fixing frame 10 through screws B605 respectively, one end of the cable compressing plate 604 is rotatably connected on the torsion spring supporting rod 602, the other end is a free end, the torsion spring 601 is sleeved on the torsion spring supporting rod 602, the two ends are respectively abutted against the guiding buffer fixing frame 10 and the cable compressing plate 604, and the free end of the cable compressing plate 604 is downwards tensioned through elasticity of the torsion spring 601 to compress the cable 201.
As shown in fig. 1, 2 and 7, the left and right sides of the hoisting mechanism 2 are provided with an oil damping vibration isolator 3 installed on a guiding buffer fixing frame 10, the oil damping vibration isolator 3 comprises an oil damping controller 301, a locking block 302 and an external fixing cylinder 303, the whole oil damping vibration isolator 3 is fixed on the guiding buffer fixing frame 10 through an outer flange of the external fixing cylinder 303, the oil damping controller 301 is accommodated in the external fixing cylinder 303, an external threaded connector a304 is arranged at the upper end of the oil damping controller 301 and is used for being in threaded connection with the locking block 302, and the external fixing cylinder 303 is clamped and fixed between the oil damping controller 301 and the locking block 302; the lower extreme of fluid damping control 301 is equipped with external screw thread connector B305 for link to each other with connecting plate B11, catches support 7 and installs at the lower surface of this connecting plate B11. The oil damping controller 301 of the present invention is commercially available and is available from Bosheng technology Co., ltd. In Germany under the model number HBY-14/40.
As shown in fig. 1, 2 and 6, the left and right sides of the hoisting mechanism 2 are provided with a guide cylinder 4 mounted on the guide buffer fixing frame 10, the guide cylinder 4 comprises an outer fixed support sleeve 401, an inner fixed wear-resistant sleeve 402, an end flange pressing plate 403, an inner follow-up cylinder rod 404 and a connecting flange 407, the lower end of the outer fixed support sleeve 401 is fixed on the guide buffer fixing frame 10, the inner fixed wear-resistant sleeve 402 is accommodated in the outer fixed support sleeve 401, the upper end is fixedly connected with the end flange pressing plate 403 through a screw E406, and the end flange pressing plate 403 and the inner fixed wear-resistant sleeve 402 are pressed and fixed to the upper end of the outer fixed support sleeve 401 together. The inner follow-up cylinder rod 404 is relatively accommodated in the inner fixed wear-resistant sleeve 402 in a lifting manner for realizing a follow-up guiding function, and an inner locking thread 405 is arranged at the lower end of the inner follow-up cylinder rod 404 for connecting the inner follow-up cylinder rod 404 with the connecting plate B11.
The working principle of the invention is as follows:
as shown in fig. 1 to 8, a mechanical arm 13 is mounted on a mother ship 12, and the mechanical arm 13 can be flexibly mounted or dismounted according to a mounting interface and a voyage demand provided by the support mother ship 12 so as to ensure the retraction operation of the voyage on the underwater robot 16; meanwhile, other equipment can be lifted and put. The connecting block A102 in the winch anti-swing mechanism 14 is fixed at the tail end of the mechanical arm 13, and meanwhile, the roll and pitching compound anti-swing damping hydraulic cylinders 18 are connected in parallel, and the yaw and pitching anti-swing functions are realized by combining the circumferential rotation function of the circumferential rotation steering mechanism 1. After the end of the oscillation stopping action, the hoisting oscillation stopping mechanism 14 can be limited and locked by the damping hydraulic cylinder 18. The rope throwing mechanism 15 is arranged at the bow of the underwater robot 16 and is used for realizing the rapid rope throwing function of the underwater robot 16 on the sea level.
After the life of the underwater robot 16 is finished, a worker triggers a rope throwing mechanism 15 of the bow of the underwater robot 16 through remote control to throw the bow out of a buoyancy block to be released quickly, the bow throws out of the buoyancy block to float under the action of sea waves to drive a rope throwing cable to be unfolded quickly, then the rope throwing cable is fished out manually, and is connected to a cable 201 on a hoisting and anti-swing mechanism 14, and the safety recovery of the underwater robot 16 is realized through the combined actions of a mechanical arm 13, the hoisting and anti-swing mechanism 14, a connecting plate A17 and a damping hydraulic cylinder 18.
In the cloth recycling process, the rotary motor 107 works, and since the rotary shaft 111 is connected with the connecting block a102 through the lock nut 112, and the connecting block a102 is fixed at the tail end of the mechanical arm 13, the rotary motor 107 drives the part below the rotary shaft 111 (including the mounting frame, the guiding buffer fixing frame 10 and the capturing bracket 7) to rotate relative to the rotary shaft 111, so that the rotary direction adjustment is realized. The winch motor 206 and the winch reducer 205 drive the winch drum 203 to rotate, so as to lay or recover the cable 201, and further to lay or recover the underwater robot 16 relative to the capturing bracket 7. The guiding cylinder barrel 4 can play a guiding role, the oil damping vibration isolator 3 can play a buffering role, the passive cable dispersing roller mechanism 5 enables each layer of cables 201 to be wound side by side, and the cable compressing mechanism 6 can ensure that the cables are always in a compressed state when the mechanism is used for constant tension winding, and the cables cannot be wound due to reciprocating winding and unwinding actions.
The guiding buffer fixing frame 10 can be custom designed according to the underwater robots 16 with different shapes, and a universal interface is designed on the connecting interface of the tail end, so that the guiding buffer fixing frame can be flexibly replaced according to the retraction requirement.
Claims (7)
1. A winch anti-swing mechanism of an underwater robot cloth and recycling system is characterized in that: the device comprises a circumferential rotation direction adjusting mechanism (1), a hoisting mechanism (2), a capturing bracket (7) and a guiding buffer fixing frame (10), wherein the circumferential rotation direction adjusting mechanism (1) comprises a lifting ring hinge connecting rod (101), a connecting block A (102), a mounting frame, a rotary motor (107) and a rotating shaft (111), the rotary motor (107) is mounted on the guiding buffer fixing frame (10) through the mounting frame, an output shaft is connected with the lower end of the rotating shaft (111), the upper end of the rotating shaft (111) is fixedly connected with the connecting block A (102), and the lifting ring hinge connecting rod (101) is mounted on the connecting block A (102); the hoisting mechanism (2) comprises a cable (201), a hoisting roller (203), a power source, a support A (207) and a rotary drum supporting shaft (209), wherein the support A (207) is installed on the guide buffer fixing frame (10), the hoisting roller (203) is rotatably installed on the support A (207) through the rotary drum supporting shaft (209), the power source is installed on the support A (207), the output end is connected with one end of the hoisting roller (203) and drives the hoisting roller (203) to rotate, one end of the cable (201) is wound on the hoisting roller (203), and the other end of the cable is connected with a rope throwing cable thrown out by the bow of the underwater robot;
an oil damping vibration isolator (3) is mounted on the guide buffer fixing frame (10), the oil damping vibration isolator (3) comprises an oil damping controller (301) and an external fixing cylinder (303), the external fixing cylinder (303) is mounted on the guide buffer fixing frame (10), the oil damping controller (301) is accommodated in the external fixing cylinder (303), the upper end of the oil damping controller is connected with the top of the external fixing cylinder (303), and the lower end of the oil damping controller is connected with the capturing bracket (7);
the guide buffer fixing frame (10) is provided with a guide cylinder barrel (4), the guide cylinder barrel (4) comprises an external fixed support sleeve (401), an internal fixed wear-resisting sleeve (402) and an internal follow-up cylinder rod (404), the external fixed support sleeve (401) is arranged on the guide buffer fixing frame (10), the internal fixed wear-resisting sleeve (402) is contained in the external fixed support sleeve (401) and is connected with the external fixed support sleeve (401), the internal follow-up cylinder rod (404) can be contained in the internal fixed wear-resisting sleeve (402) in a relatively lifting manner, and the lower end of the internal fixed wear-resisting sleeve is connected with the catching support (7).
2. The hoist anti-sway mechanism of an underwater robot deployment and retrieval system of claim 1, wherein: one side or both sides of hoist cylinder (203) are equipped with passive cable dispersion roller mechanism (5), and this passive cable dispersion roller mechanism (5) are including passive cylinder (501) and support B (502), support B (502) are installed on support A (207), passive cylinder (501) are rotated and are installed on this support B (502), interval between hoist cylinder (203) and passive cylinder (501) is less than 2 times of cable (201) diameter.
3. The hoist anti-sway mechanism of an underwater robot deployment and retrieval system of claim 1, wherein: install cable hold-down mechanism (6) on direction buffering mount (10), this cable hold-down mechanism (6) include torsion spring (601), torsional spring bracing piece (602), connecting block B (603) and cable hold-down plate (604), torsional spring bracing piece (602) are installed on direction buffering mount (10) through connecting block B (603), the one end of cable hold-down plate (604) is rotated and is connected on torsional spring bracing piece (602), and the other end is the free end, torsion spring (601) cover is established on torsional spring bracing piece (602), both ends respectively with direction buffering mount (10) and cable hold-down plate (604) butt, the free end of this cable hold-down plate (604) is passed through the elasticity butt of torsion spring (601) is on cable (201).
4. The hoist anti-sway mechanism of an underwater robot deployment and retrieval system of claim 1, wherein: the cable (201) penetrates out from the bottom of the guide buffer fixing frame (10) and is connected with a recovery rope thrown out from the bow of the underwater robot, and a cable limiting plate (202) arranged on the guide buffer fixing frame (10) is arranged on the outer side of the cable (201).
5. The hoist anti-sway mechanism of an underwater robot deployment and retrieval system of claim 1, wherein: the catching support (7) is provided with a first-stage buffering vibration isolator (8), and the lower surface of the guiding buffering fixing frame (10) is provided with a second-stage buffering vibration isolator (9).
6. The hoist anti-sway mechanism of an underwater robot deployment and retrieval system of claim 1, wherein: a wear-resistant copper ring (114) for axially limiting the rotating shaft (111) and a wear-resistant copper sleeve A (110) for radially limiting the rotating shaft (111) are arranged between the rotating shaft (111) and the mounting frame, and a triangular connecting molded surface (109) is arranged at the lower end of the rotating shaft (111) and connected with the tail end (108) of an output shaft of the rotating motor (107); the upper end of the rotating shaft (111) is fixedly connected with the bottom of the connecting block A (102) through a locking nut (112).
7. The hoist anti-sway mechanism of an underwater robot deployment and retrieval system of claim 1, wherein: the connecting block A (102) is U-shaped, the lifting ring hinged connecting rod (101) is arranged at the opening end of the U-shaped connecting block, one end of the lifting ring hinged connecting rod (101) is a lifting ring, and the other end of the lifting ring hinged connecting rod is provided with a positioning locking hole (113).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810921939.XA CN110816755B (en) | 2018-08-14 | 2018-08-14 | Hoisting and oscillation stopping mechanism of underwater robot cloth recycling system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810921939.XA CN110816755B (en) | 2018-08-14 | 2018-08-14 | Hoisting and oscillation stopping mechanism of underwater robot cloth recycling system |
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| CN110816755A CN110816755A (en) | 2020-02-21 |
| CN110816755B true CN110816755B (en) | 2023-08-01 |
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| CN112429630A (en) * | 2020-11-27 | 2021-03-02 | 广东智能无人系统研究院 | Automatic docking and unlocking device for marine hoisting of large equipment |
| CN115076272B (en) * | 2022-05-26 | 2023-10-13 | 哈尔滨工程大学 | Underwater buffer device based on scroll spring |
| CN115571806B (en) * | 2022-08-22 | 2023-08-29 | 航天科工深圳（集团）有限公司 | Intelligent towed body retraction system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2003201091A (en) * | 2002-01-07 | 2003-07-15 | Kayaba Ind Co Ltd | Crane type heave damper device |
| US8172177B2 (en) * | 2008-06-02 | 2012-05-08 | Advanced Technology & Research Corp. | Stabilized UAV recovery system |
| NO334469B1 (en) * | 2012-03-27 | 2014-03-10 | I P Huse As | Procedure for operating winch for handling cargo with a line, construction and application |
| JP6304710B2 (en) * | 2014-04-24 | 2018-04-04 | 海上保安庁長官 | Lifting method and lifting device for lifting rescue winch |
| CN105711749B (en) * | 2016-02-03 | 2018-07-13 | 青岛远创机器人自动化有限公司 | A kind of unmanned water surface aircraft lays recovery method |
| KR101759909B1 (en) * | 2016-03-23 | 2017-07-31 | 주식회사 테크플라워 | Level wind of umbrical winch for remotely operated vehicle launch and recovery system |
| WO2017171273A1 (en) * | 2016-03-29 | 2017-10-05 | 한국해양과학기술원 | Coupling device for recovering unmanned ship and coupling control method using same |
| CN106476994B (en) * | 2016-11-25 | 2018-08-14 | 大连华锐重工集团股份有限公司 | Underwater robot extension and retraction system and its application method |
| CN115783143B (en) * | 2017-11-22 | 2023-09-08 | 自然资源部第二海洋研究所 | Marine mechanical arm oscillation stopping device |
| CN208602649U (en) * | 2018-08-14 | 2019-03-15 | 中国科学院沈阳自动化研究所 | Underwater robot lays the elevator Zhi Dang mechanism of recovery system |
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